Add basic `esp32p4` support #3015

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Job	Run time
Build xtasks \| armv7	2m 4s
Build HIL Tests \| esp32c2	1m 27s
Build xtasks \| aarch64	1m 46s
Build HIL Tests \| esp32c3	1m 37s
Build HIL Tests \| esp32c6	1m 49s
Build HIL Tests \| esp32h2	1m 47s
Build HIL Tests \| esp32	4m 2s
Build HIL Tests \| esp32s2	4m 1s
Build HIL Tests \| esp32s3	4m 26s
Run HIL Tests \| esp32c2	2m 42s
Run HIL Tests \| esp32c3	2m 41s
Run HIL Tests \| esp32c6	2m 36s
Run HIL Tests \| esp32h2	2m 42s
Run HIL Tests \| esp32	2m 42s
Run HIL Tests \| esp32s2	2m 36s
Run HIL Tests \| esp32s3	2m 33s
	41m 31s